We have a set \(\mathbb {U}\)  of \(U\)  Unmanned Aerial Vehicles (UAVs), equipped with a monocular thermal-infrared camera and IMU. Each drone can fly independently by running the JPL xVIO [1]}. At start-up, each drone is initialized with the same inertial reference frame.
The system extracts Features from accelerated segment test (FAST) corners [2]} and uses the pyramidal implementation of the Lucas-Kanade tracker [3]} to build tracks out of the extracted features. We associate an Oriented FAST and Rotated BRIEF (ORB) descriptor [4]} to each track to perform track matching between the current UAV tracks and the ones received from the other agents. In xVIO there are three kinds of tracks:
